source/libr2c2/train.cpp

   1 #include <algorithm>
   2 #include <cmath>
   3 #include <msp/core/maputils.h>
   4 #include <msp/core/raii.h>
   5 #include <msp/strings/format.h>
   6 #include <msp/time/units.h>
   7 #include <msp/time/utils.h>
   8 #include "aicontrol.h"
   9 #include "block.h"
  10 #include "catalogue.h"
  11 #include "driver.h"
  12 #include "layout.h"
  13 #include "route.h"
  14 #include "simplecontroller.h"
  15 #include "speedquantizer.h"
  16 #include "timetable.h"
  17 #include "trackcircuit.h"
  18 #include "trackiter.h"
  19 #include "tracktype.h"
  20 #include "train.h"
  21 #include "trainrouter.h"
  22 #include "vehicle.h"
  23 #include "vehicletype.h"
  24 #include "zone.h"
  25
  26 using namespace std;
  27 using namespace Msp;
  28
  29 namespace R2C2 {
  30
  31 Train::Train(Layout &l, const VehicleType &t, unsigned a, const string &p):
  32         layout(l),
  33         loco_type(t),
  34         address(a),
  35         protocol(p),
  36         preceding_train(0),
  37         allocator(*this),
  38         advancing(false),
  39         controller(new SimpleController),
  40         active(false),
  41         current_speed_step(0),
  42         speed_changing(false),
  43         reverse(false),
  44         functions(0),
  45         pure_speed(false),
  46         speed_quantizer(0),
  47         accurate_position(false),
  48         overshoot_dist(false)
  49 {
  50         if(!loco_type.is_locomotive())
  51                 throw invalid_argument("Train::Train");
  52
  53         unsigned speed_steps = layout.get_driver().get_protocol_speed_steps(protocol);
  54         if(speed_steps)
  55                 speed_quantizer = new SpeedQuantizer(speed_steps);
  56
  57         vehicles.push_back(new Vehicle(layout, loco_type));
  58
  59         layout.add_train(*this);
  60
  61         layout.get_driver().add_loco(address, protocol, loco_type);
  62         layout.get_driver().signal_loco_speed.connect(sigc::mem_fun(this, &Train::loco_speed_event));
  63         layout.get_driver().signal_loco_function.connect(sigc::mem_fun(this, &Train::loco_func_event));
  64
  65         layout.signal_sensor_state_changed.connect(sigc::mem_fun(this, &Train::sensor_state_changed));
  66
  67         layout.get_driver().signal_halt.connect(sigc::mem_fun(this, &Train::halt_event));
  68
  69         controller->signal_control_changed.connect(sigc::mem_fun(this, &Train::control_changed));
  70 }
  71
  72 Train::~Train()
  73 {
  74         delete controller;
  75         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
  76                 delete *i;
  77         layout.remove_train(*this);
  78 }
  79
  80 void Train::set_name(const string &n)
  81 {
  82         name = n;
  83
  84         signal_name_changed.emit(name);
  85 }
  86
  87 void Train::add_vehicle(const VehicleType &vt)
  88 {
  89         Vehicle *veh = new Vehicle(layout, vt);
  90         vehicles.back()->attach_back(*veh);
  91         vehicles.push_back(veh);
  92 }
  93
  94 void Train::remove_vehicle(unsigned i)
  95 {
  96         if(i>=vehicles.size())
  97                 throw out_of_range("Train::remove_vehicle");
  98         if(i==0)
  99                 throw logic_error("can't remove locomotive");
 100         delete vehicles[i];
 101         vehicles.erase(vehicles.begin()+i);
 102         if(i<vehicles.size())
 103                 vehicles[i-1]->attach_back(*vehicles[i]);
 104 }
 105
 106 unsigned Train::get_n_vehicles() const
 107 {
 108         return vehicles.size();
 109 }
 110
 111 Vehicle &Train::get_vehicle(unsigned i)
 112 {
 113         if(i>=vehicles.size())
 114                 throw out_of_range("Train::get_vehicle");
 115         return *vehicles[i];
 116 }
 117
 118 const Vehicle &Train::get_vehicle(unsigned i) const
 119 {
 120         if(i>=vehicles.size())
 121                 throw out_of_range("Train::get_vehicle");
 122         return *vehicles[i];
 123 }
 124
 125 void Train::set_control(const string &n, float v)
 126 {
 127         controller->set_control(n, v);
 128 }
 129
 130 void Train::set_active(bool a)
 131 {
 132         if(a==active)
 133                 return;
 134         if(!a && controller->get_speed())
 135                 throw logic_error("moving");
 136
 137         active = a;
 138         if(active)
 139         {
 140                 stop_timeout = Time::TimeStamp();
 141                 allocator.reserve_more();
 142         }
 143         else
 144                 stop_timeout = Time::now()+2*Time::sec;
 145 }
 146
 147 void Train::set_function(unsigned func, bool state)
 148 {
 149         if(!loco_type.get_functions().count(func))
 150                 throw invalid_argument("Train::set_function");
 151         layout.get_driver().set_loco_function(address, func, state);
 152 }
 153
 154 float Train::get_control(const string &ctrl) const
 155 {
 156         return controller->get_control(ctrl).value;
 157 }
 158
 159 float Train::get_speed() const
 160 {
 161         return controller->get_speed();
 162 }
 163
 164 float Train::get_quantized_speed() const
 165 {
 166         if(speed_quantizer)
 167                 return speed_quantizer->quantize_speed(controller->get_speed());
 168         else
 169                 return controller->get_speed();
 170 }
 171
 172 bool Train::get_function(unsigned func) const
 173 {
 174         return (functions>>func)&1;
 175 }
 176
 177 void Train::add_ai(TrainAI &ai)
 178 {
 179         ais.push_back(&ai);
 180         ai.signal_event.connect(sigc::bind<0>(signal_ai_event, sigc::ref(ai)));
 181 }
 182
 183 void Train::remove_ai(TrainAI &ai)
 184 {
 185         list<TrainAI *>::iterator i = find(ais.begin(), ais.end(), &ai);
 186         if(i!=ais.end())
 187                 ais.erase(i);
 188 }
 189
 190 void Train::ai_message(const TrainAI::Message &msg)
 191 {
 192         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 193                 (*i)->message(msg);
 194 }
 195
 196 void Train::place(const BlockIter &block)
 197 {
 198         if(!block)
 199                 throw invalid_argument("Train::place");
 200         if(controller->get_speed())
 201                 throw logic_error("moving");
 202
 203         set_active(false);
 204         accurate_position = false;
 205
 206         allocator.start_from(block);
 207
 208         if(reverse)
 209                 vehicles.front()->place(block.reverse().track_iter(), 0, Vehicle::FRONT_BUFFER);
 210         else
 211                 vehicles.back()->place(block.track_iter(), 0, Vehicle::BACK_BUFFER);
 212 }
 213
 214 void Train::unplace()
 215 {
 216         if(controller->get_speed())
 217                 throw logic_error("moving");
 218
 219         allocator.clear();
 220
 221         set_active(false);
 222         accurate_position = false;
 223
 224         for(vector<Vehicle *>::iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 225                 (*i)->unplace();
 226 }
 227
 228 void Train::stop_at(Block *block)
 229 {
 230         allocator.stop_at(block);
 231         if(active && !block)
 232                 allocator.reserve_more();
 233 }
 234
 235 bool Train::free_block(Block &block)
 236 {
 237         if(get_reserved_distance_until(&block)<controller->get_braking_distance()*1.3)
 238                 return false;
 239
 240         return allocator.release_from(block);
 241 }
 242
 243 void Train::free_noncritical_blocks()
 244 {
 245         if(allocator.empty())
 246                 return;
 247
 248         if(controller->get_speed()==0)
 249         {
 250                 allocator.release_noncurrent();
 251                 return;
 252         }
 253
 254         float margin = 10*layout.get_catalogue().get_scale();
 255         float min_dist = controller->get_braking_distance()*1.3+margin;
 256
 257         BlockIter i = allocator.last_current().next();
 258         float dist = 0;
 259         bool sensor_seen = false;
 260         for(; i->get_train()==this; i=i.next())
 261         {
 262                 if(dist>min_dist && sensor_seen)
 263                 {
 264                         allocator.release_from(*i);
 265                         return;
 266                 }
 267
 268                 dist += i->get_path_length(i.entry());
 269
 270                 if(i->get_sensor_id())
 271                         sensor_seen = true;
 272         }
 273 }
 274
 275 float Train::get_reserved_distance() const
 276 {
 277         if(allocator.empty())
 278                 return 0;
 279
 280         float margin = 0;
 281         TrackIter next = allocator.last().next().track_iter();
 282         if(next && next->get_type().is_turnout())
 283                 margin = 15*layout.get_catalogue().get_scale();
 284
 285         return max(get_reserved_distance_until(0)-margin, 0.0f);
 286 }
 287
 288 void Train::reserve_more()
 289 {
 290         allocator.reserve_more();
 291 }
 292
 293 void Train::tick(const Time::TimeStamp &t, const Time::TimeDelta &dt)
 294 {
 295         if(!active && stop_timeout && t>=stop_timeout)
 296         {
 297                 allocator.release_noncurrent();
 298                 stop_timeout = Time::TimeStamp();
 299         }
 300
 301         Driver &driver = layout.get_driver();
 302
 303         for(list<TrainAI *>::iterator i=ais.begin(); i!=ais.end(); ++i)
 304                 (*i)->tick(t, dt);
 305         controller->tick(dt);
 306         float speed = controller->get_speed();
 307         bool moving = speed>0;
 308
 309         if(controller->get_reverse()!=reverse)
 310         {
 311                 reverse = controller->get_reverse();
 312                 bool r = reverse;
 313                 if(loco_type.get_swap_direction())
 314                         r = !r;
 315                 driver.set_loco_reverse(address, r);
 316
 317                 allocator.reverse();
 318                 if(active)
 319                         allocator.reserve_more();
 320         }
 321
 322         if(speed_quantizer)
 323         {
 324                 unsigned speed_step = speed_quantizer->find_speed_step(speed);
 325                 if(speed_step!=current_speed_step && !speed_changing && !driver.is_halted() && driver.get_power())
 326                 {
 327                         speed_changing = true;
 328                         driver.set_loco_speed(address, speed_step);
 329
 330                         pure_speed = false;
 331                 }
 332
 333                 speed = speed_quantizer->get_speed(current_speed_step);
 334         }
 335
 336         if(moving)
 337         {
 338                 if(!active)
 339                         set_active(true);
 340
 341                 Vehicle &vehicle = *(reverse ? vehicles.back() : vehicles.front());
 342
 343                 float d = speed*(dt/Time::sec);
 344                 if(allocator.is_block_current(vehicle.get_track()->get_block()))
 345                 {
 346                         SetFlag setf(advancing);
 347                         vehicle.advance(reverse ? -d : d);
 348                 }
 349                 else if(accurate_position)
 350                 {
 351                         overshoot_dist += d;
 352                         if(overshoot_dist>40*layout.get_catalogue().get_scale())
 353                         {
 354                                 layout.emergency(name+" has not arrived at sensor");
 355                                 accurate_position = false;
 356                         }
 357                 }
 358         }
 359 }
 360
 361 void Train::save(list<DataFile::Statement> &st) const
 362 {
 363         st.push_back((DataFile::Statement("name"), name));
 364
 365         for(vector<Vehicle *>::const_iterator i=vehicles.begin(); i!=vehicles.end(); ++i)
 366                 if(i!=vehicles.begin())
 367                         st.push_back((DataFile::Statement("vehicle"), (*i)->get_type().get_article_number()));
 368
 369         if(speed_quantizer)
 370         {
 371                 DataFile::Statement ss("quantized_speed");
 372                 speed_quantizer->save(ss.sub);
 373                 st.push_back(ss);
 374         }
 375
 376         {
 377                 DataFile::Statement ss("blocks");
 378                 allocator.save(ss.sub);
 379                 st.push_back(ss);
 380         }
 381
 382         // XXX Need more generic way of saving AI state
 383         for(list<TrainAI *>::const_iterator i=ais.begin(); i!=ais.end(); ++i)
 384         {
 385                 if(TrainRouter *router = dynamic_cast<TrainRouter *>(*i))
 386                 {
 387                         DataFile::Statement ss("router");
 388                         router->save(ss.sub);
 389                         st.push_back(ss);
 390                 }
 391                 else if(Timetable *timetable = dynamic_cast<Timetable *>(*i))
 392                 {
 393                         DataFile::Statement ss("timetable");
 394                         timetable->save(ss.sub);
 395                         st.push_back(ss);
 396                 }
 397         }
 398 }
 399
 400 void Train::control_changed(const Controller::Control &ctrl)
 401 {
 402         signal_control_changed.emit(ctrl.name, ctrl.value);
 403 }
 404
 405 void Train::loco_speed_event(unsigned addr, unsigned speed, bool rev)
 406 {
 407         if(addr==address)
 408         {
 409                 current_speed_step = speed;
 410                 bool r = reverse;
 411                 if(loco_type.get_swap_direction())
 412                         r = !r;
 413                 if(rev!=r)
 414                         layout.get_driver().set_loco_reverse(address, r);
 415                 speed_changing = false;
 416                 pure_speed = false;
 417         }
 418 }
 419
 420 void Train::loco_func_event(unsigned addr, unsigned func, bool state)
 421 {
 422         if(addr==address)
 423         {
 424                 if(state)
 425                         functions |= 1<<func;
 426                 else
 427                         functions &= ~(1<<func);
 428
 429                 signal_function_changed.emit(func, state);
 430         }
 431 }
 432
 433 void Train::sensor_state_changed(Sensor &sensor, Sensor::State state)
 434 {
 435         Block *block = 0;
 436         if(TrackCircuit *tc = dynamic_cast<TrackCircuit *>(&sensor))
 437                 block = &tc->get_block();
 438         else
 439                 return;
 440
 441         if(block->get_train()==this && state==Sensor::MAYBE_ACTIVE)
 442         {
 443                 if(last_entry_block)
 444                 {
 445                         float travel_distance = -1;
 446                         if(pure_speed && speed_quantizer && current_speed_step>0)
 447                                 travel_distance = 0;
 448
 449                         for(BlockIter i=last_entry_block; &*i!=block; i=i.next())
 450                         {
 451                                 if(i->get_sensor_id())
 452                                         return;
 453                                 if(travel_distance>=0)
 454                                         travel_distance += i->get_path_length(i.entry());
 455                         }
 456
 457                         if(travel_distance>0)
 458                         {
 459                                 float travel_time_secs = (Time::now()-last_entry_time)/Time::sec;
 460
 461                                 if(travel_time_secs>=2)
 462                                         speed_quantizer->learn(current_speed_step, travel_distance/travel_time_secs, travel_time_secs);
 463                         }
 464                 }
 465
 466                 last_entry_block = allocator.iter_for(*block);
 467                 last_entry_time = Time::now();
 468                 pure_speed = true;
 469                 accurate_position = true;
 470                 overshoot_dist = 0;
 471
 472                 if(!advancing && vehicles.front()->get_track())
 473                 {
 474                         TrackIter track = last_entry_block.track_iter();
 475                         if(reverse)
 476                         {
 477                                 track = track.flip();
 478                                 vehicles.back()->place(track, 0, Vehicle::BACK_AXLE);
 479                         }
 480                         else
 481                                 vehicles.front()->place(track, 0, Vehicle::FRONT_AXLE);
 482                 }
 483         }
 484 }
 485
 486 void Train::halt_event(bool h)
 487 {
 488         if(h)
 489                 accurate_position = false;
 490 }
 491
 492 float Train::get_reserved_distance_until(const Block *until_block) const
 493 {
 494         if(allocator.empty())
 495                 return 0;
 496
 497         Vehicle &veh = *(reverse ? vehicles.back() : vehicles.front());
 498
 499         TrackIter track = veh.get_track_iter();
 500         if(!track)  // XXX Probably unnecessary
 501                 return 0;
 502
 503         BlockIter block = track.block_iter();
 504         if(&*block==until_block)
 505                 return 0;
 506
 507         // Account for the vehicle's offset on its current track
 508         float result = veh.get_offset();
 509         if(reverse)
 510                 track = track.reverse();
 511         else
 512                 result = track->get_type().get_path_length(track->get_active_path())-result;
 513         result -= veh.get_type().get_length()/2;
 514
 515         // Count remaining distance in the vehicle's current block
 516         for(track=track.next(); &track->get_block()==&*block; track=track.next())
 517                 result += track->get_type().get_path_length(track->get_active_path());
 518
 519         const BlockIter &last = allocator.last();
 520         if(&*block==&*last)
 521                 return result;
 522
 523         // Count any remaining blocks
 524         for(block=block.next(); (&*block!=until_block && block->get_train()==this); block=block.next())
 525         {
 526                 result += block->get_path_length(block.entry());
 527
 528                 if(&*block==&*last)
 529                         break;
 530         }
 531
 532         return result;
 533 }
 534
 535
 536 Train::Loader::Loader(Train &t):
 537         DataFile::ObjectLoader<Train>(t),
 538         prev_block(0),
 539         blocks_valid(true)
 540 {
 541         add("blocks",      &Loader::blocks);
 542         add("name",        &Loader::name);
 543         add("quantized_speed",  &Loader::quantized_speed);
 544         add("router",      &Loader::router);
 545         add("timetable",   &Loader::timetable);
 546         add("vehicle",     &Loader::vehicle);
 547 }
 548
 549 void Train::Loader::finish()
 550 {
 551         if(!obj.allocator.empty())
 552         {
 553                 TrackIter track = obj.allocator.first().track_iter();
 554                 float offset = 2*obj.layout.get_catalogue().get_scale();
 555                 obj.vehicles.back()->place(track, offset, Vehicle::BACK_BUFFER);
 556         }
 557 }
 558
 559 void Train::Loader::blocks()
 560 {
 561         load_sub(obj.allocator);
 562 }
 563
 564 void Train::Loader::name(const string &n)
 565 {
 566         obj.set_name(n);
 567 }
 568
 569 void Train::Loader::quantized_speed()
 570 {
 571         if(obj.speed_quantizer)
 572                 load_sub(*obj.speed_quantizer);
 573 }
 574
 575 void Train::Loader::router()
 576 {
 577         TrainRouter *rtr = new TrainRouter(obj);
 578         load_sub(*rtr);
 579 }
 580
 581 void Train::Loader::timetable()
 582 {
 583         Timetable *ttbl = new Timetable(obj);
 584         load_sub(*ttbl);
 585 }
 586
 587 void Train::Loader::vehicle(ArticleNumber art_nr)
 588 {
 589         const VehicleType &vtype = obj.layout.get_catalogue().get_vehicle(art_nr);
 590         Vehicle *veh = new Vehicle(obj.layout, vtype);
 591         obj.vehicles.back()->attach_back(*veh);
 592         obj.vehicles.push_back(veh);
 593 }
 594
 595 } // namespace R2C2